Ardupilot-MAVlink battery monitor #27354
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- Implement handling of MAVLink message ID MAVLINK_MSG_ID_BATTERY_STATUS.
- Allows users to connect a battery that sends its data via MAVLink to the flight controller. - To use the MAVLink battery monitor, set `BATTx_MONITOR=30`.
| void AP_BattMonitor::handle_msg(const mavlink_message_t &msg) | ||
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| uint8_t i; |
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you can put this in the loop, that is cpp
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| #ifndef AP_BATTERY_MAVLINK_ENABLED | ||
| #define AP_BATTERY_MAVLINK_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED | ||
| #endif |
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this PR has some major fundamental issues. We could be getting BATTERY_STATUS messages from another vehicle, or even from ourselves via a loopback. There is no protection against this. Using a sensor reporting msg as sensor input is inherently difficult, it also doesn't support multiple batteries.
Why do you want to do this? Can you explain the setup?
Note that you could implement exactly this functionality using lua, which can parse mavlink messages and create a battery backend
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Filter based on src system to make sure it's coming from the same vehicle. |
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From discussion, this will need at least usage of the Battery id to filter the one we want. Use of sysid/compid to filter correctly the messages |
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Ping @FAIZALR - you won't be able to reuse that mavlink message, at least. Did you still wish to pursue this PR? |
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Closing this one now. It's not a terrible concept, just can't use that message! |
This commit introduces functionality to support battery monitors using the MAVLink protocol. The following changes are included:
#if AP_BATTERY_MAVLINK_ENABLED).AP_BATTERY_MAVLINK_ENABLEDto default toAP_BATTERY_BACKEND_DEFAULT_ENABLEDif not explicitly set.handle_msg(const mavlink_message_t &msg)inAP_BattMonitorto iterate through configured instances and pass MAVLink messages to appropriate drivers.Type::MAVLink) when configured (BATTx_MONITOR=30).These changes enables the battery monitor to interface with MAVLink-enabled battery devices, enabling the flight controller to receive and process battery status updates via MAVLink messages. The implementation ensures compatibility and functionality when MAVLink battery monitor driver is enabled through configuration (BATTx_MONITOR=30) and tested in SITL.